Planning with Sensing for a Mobile Robot

Giuseppe De Giacomo, Luca Iocchi, Daniele Nardi, Riccardo Rosati.
In Proceedings of the Fourth European Conference on Planning (ECP'97), Lecture Notes in Artificial Intelligence, pages 156-168, Springer, 1997.



We present an attempt to reconcile the theoretical work on reasoning about action with the realization of agents, in particular mobile robots. Specifically, we present a logical framework for representing dynamic systems based on description logics, which allows for the formalization of sensing actions. We address the generation of conditional plans by defining a suitable reasoning method in which a plan is extracted from a constructive proof of a query expressing a given goal. We also present an implementation of such a logical framework, which has been tested on the mobile robot "Tino".

Bibtex entry:

@String{ECP-97 = "Proceedings of the Fourth European Conference on Planning (ECP'97)"}

@String{SV = "Springer"}

@String{LNAI = "Lecture Notes in Artificial Intelligence"}

author = "De Giacomo, Giuseppe and Luca Iocchi and Daniele Nardi and Riccardo Rosati",
title = "Planning with Sensing for a Mobile Robot",
booktitle = ECP-97,
pages = "156--168",
publisher = SV,
series = LNAI,
year = 1997,